Home/Matthew T. Mason

Matthew T. Mason

Professor, RI/CS
Email: mm3x@andrew.cmu.edu
Office: NSH A521
Phone: (412) 268-8804
Personal Homepage
Administrative Assistant: Jean Harpley

I work in robotics. The primary venue for my work is the Manipulation Lab (MLab).

Simple Hands

My primary focus is simple hands. I think simple hands are better than complex anthropomorphic hands, both for research purposes and for most applications. The main reason is that the dexterity of a hand is mostly about the brain, not the hand. Our approach mixes a strong dose of machine learning into the traditional brew of AI, control and mechanical design. If you’re curious, there are publications here. Probably the first one to read is the 2012 IJRR paper Autonomous Manipulation with a General-Purpose Simple Hand. Also see related papers from ICRA 2013 and RSS 2011, both of which won best student paper awards. The project began with NSF funding and is continuing with funds from NSF and the Army Research Office.

Extrinsic Dexterity

In robotic manipulation lingo, “dexterity” often refers to moving an object in the hand, like when you drop a coin from a fingertip grasp to your palm. However, most research on dexterity assumes a complex anthropomorphic hand. Under the standard assumption, a simple hand cannot shift grasps. But those assumptions are too restrictive. We have demonstrated the mechanical feasibility of dexterous manipulation using a simple hand. Our research is focused on going beyond mechanical feasibility, so that an autonomous robot could employ extrinsic dexterity by planning and controlling the simple hand for a given object and task. The first paper to read is the 2014 ICRA paper (Chavan Dafle et al.), perhaps followed by the Zhou et al. paper which won Best Conference Paper at ICRA 2016, or the upcoming WAFR 2016 paper by Hou et al.

Manufacturing Automation

Industrial automation is the ultimate proving ground for robotic manipulation research. This project, sponsored by Foxconn, is focused on automatic assembly of smart phones. The challenges are formidable, since smart phones use very small parts, some floppy and some sticky, and there is unavoidable clutter. We have a forthcoming paper surveying threaded fastening automation, and a recent paper on machine learning applied to classify stages of screw insertion (ISER 2016).

Publications

A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Jiaji Zhou, J. Andrew Bagnell, Matthew T. Mason

Robotics: Science and Systems July, 2017

A Probabilistic Planning Framework for Planar Grasping Under Uncertainty
Jiaji Zhou, Robert Paolini, Aaron M. Johnson, J. Andrew Bagnell, Matthew T. Mason

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) September, 2017

Data-driven Classification of Screwdriving Operations
Reuben Aronson, Ankit Bhatia, Zhenzhong Jia, Mathieu Guillame-Bert, David Bourne, Artur W. Dubrawski, Matthew T. Mason

International Symposium on Experimental Robotics October, 2016

Data-Driven Statistical Modeling of a Cube Regrasp
Robert Paolini, Matthew T. Mason

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October, 2016

A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application
Jiaji Zhou, Robert Paolini, J. Andrew (Drew) Bagnell, Matthew T. Mason

International Conference on Robotics and Automation (ICRA) 2016 May, 2016

A Novel Nonlinear Compliant Link on Simple Grippers
Zhiwei Zhang, Alberto Rodriguez, and Matthew T. Mason

2015 IEEE/RSJ Conference on Intelligent Robots and Systems (IROS 2015) September, 2015

Harnessing Human Manipulation
Matthew T. Mason, Nancy Pollard, Alberto Rodriguez and Ryan Kerwin

NSF/ARL Workshop on Cloud Robotics : Challenges and Opportunities February, 2013

Multiple Impacts: A State Transition Diagram Approach
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

International Journal of Robotics Research January, 2013

Path-Connectivity of the Free Space
Alberto Rodriguez and Matthew T. Mason

IEEE Transactions on Robotics (TRO) October, 2012

From Caging to Grasping
Alberto Rodriguez, Matthew T. Mason and Steve Ferry

The International Journal of Robotics Research (IJRR) June, 2012

Autonomous Manipulation with a General-Purpose Simple Hand
Matthew T. Mason, Alberto Rodriguez, Siddhartha Srinivasa and Andres S. Vazquez

The International Journal of Robotics Research (IJRR) April, 2012

Toward a deeper understanding of motion alternatives via an equivalence relation on local paths
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

International Journal of Robotics Research February, 2012

Grasp Invariance
Alberto Rodriguez and Matthew T. Mason

The International Journal of Robotics Research (IJRR) February, 2012

Abort and Retry in Grasping
Alberto Rodriguez, Matthew T. Mason, Siddhartha Srinivasa, Matthew Bernstein and Alex Zirbel

IEEE International Conference on Intelligent Robots and Systems (IROS 2011) September, 2011

Improved Hierarchical Planner Performance Using Local Path Equivalence
Ross Alan Knepper and Matthew T. Mason

International Conference on Intelligent Robots and Systems (IROS '11) September, 2011

Realtime Informed Path Sampling for Motion Planning Search
Ross Alan Knepper and Matthew T. Mason

CMU-RI-TR- 15th International Symposium on Robotics Research (ISRR) August, 2011

From Caging to Grasping
Alberto Rodriguez, Matthew T. Mason and Steve Ferry

Robotics: Science and Systems (RSS 2011) June, 2011

Grasp Invariance
Alberto Rodriguez and Matthew T. Mason

International Workshop on the Algorithmic Foundations of Robotics (WAFR 2010) December, 2010

An Equivalence Relation for Local Path Sets
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

The Ninth International Workshop on the Algorithmic Foundations of Robotics December, 2010

Manipulation Capabilities with Simple Hands
Alberto Rodriguez, Matthew T. Mason and Siddhartha Srinivasa

International Symposium on Experimental Robotics (ISER 2010) December, 2010

Generality and Simple Hands
Matthew T. Mason , Siddhartha Srinivasa andres S. Vazquez and Alberto Rodriguez

CMU-RI-TR-10-40 November, 2010

Failure Detection in Assembly: Force Signature Analysis
Alberto Rodriguez, David Bourne, Matthew T. Mason , Gregory F. Rossano and JianJun Wang

IEEE Conference on Automation Science and Engineering (CASE 2010) August, 2010

Minimalistic, Dynamic, Tube Climbing Robot – Video Submission
Amir Degani, Siyuan Feng, Howie Choset and Matthew T. Mason

IEEE International Conference on Robotics and Automation May, 2010

Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

Proceedings of ICRA 2010 May, 2010

DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations
Amir Degani, Howie Choset and Matthew T. Mason

Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA) May, 2010

Generality and Simple Hands
Matthew T. Mason , Siddhartha Srinivasa and Andres S. Vazquez

International Symposium of Robotics Research July, 2009

Path Diversity Is Only Part of the Problem
Ross Alan Knepper and Matthew T. Mason

International Conference on Robotics and Automation, May, 2009 May, 2009

Minimum Wheel-Rotation Paths for Differential-Drive Robots
Hamidreza Chitsaz, Steven M. LaValle, Devin J. Balkcom and Matthew T. Mason

The International Journal of Robotics Research January, 2009

A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shooting
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

Eighth International Workshop on the Algorithmic Foundations of Robotics December, 2008

Two finger caging: squeezing and stretching
Alberto Rodriguez and Matthew T. Mason

International Workshop on the Algorithmic Foundations of Robotics (WAFR 2008) December, 2008

Empirical Sampling of Path Sets for Local Area Motion Planning
Ross Alan Knepper and Matthew T. Mason

International Symposium on Experimental Robotics July, 2008

Robotic Origami Folding
Devin Balkcom and Matthew T. Mason

International Journal of Robotics Research May, 2008

Legless Locomotion: A Novel Locomotion Technique for Legged Robots
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

International Journal of Robotics Research May, 2008

A Dynamic Single Actuator Vertical Climbing Robot
Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on November, 2007

Toward Legless Locomotion Control
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems October, 2006

Time-optimal Trajectories for an Omni-directional Vehicle
Devin Balkcom, Paritosh A. Kavathekar and Matthew T. Mason

The International Journal of Robotics Research October, 2006

Extremal trajectories for bounded velocity mobile robots
Devin J. Balkcom and Matthew T. Mason

IEEE International Conference on Robotics and Automation January, 2002

Control Synthesis for Dynamic Contact Manipulation
Siddhartha Srinivasa

CMU-RI-TR-05-33 September, 2005

Using projected dynamics to plan dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

IEEE/RSJ International Conference on Intelligent Robots and Systems August, 2005

Control synthesis for dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

IEEE International Conference on Robotics and Automation April, 2005

Robotic Origami Folding
Devin Balkcom

CMU-RI-TR-04-43 August, 2004

Legless Locomotion: Models and Experimental Demonstration
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

Proceedings of the IEEE International Conference on Robotics and Automation April, 2004

Legless Locomotion for Legged Robots
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

CMU-RI-TR-04-05 January, 2004

Legless Locomotion for Legged Robots
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

Proceedings of the International Conference on Robotics and Intelligent Systems October, 2003

Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03) May, 2003

Progress in Desktop Robotics
Devin Balkcom and Matthew T. Mason

The Eleventh Yale Workshop on Adaptive and Learning Systems January, 2001

Extremal Trajectories for Bounded Velocity Mobile Robots
Devin Balkcom and Matthew T. Mason

ICRA May, 2002

Experiments with nonholonomic manipulation
Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason and Michael Erdmann

Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02) May, 2002

Rapid Prototyping of Small Robots
Greg Reshko, Matthew T. Mason and Illah Nourbakhsh

CMU-RI-TR-02-11 March, 2002

Robotics: The Algorithmic Perspective
Matthew T. Mason

January, 1998

Mechanics of Robotic Manipulation
Matthew T. Mason

August, 2001

Orienting Toleranced Polygonal Parts
Srinivas Akella and Matthew T. Mason

International Journal of Robotics Research December, 2000

Parts Feeding on a Conveyor with a One Joint Robot
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

Algorithmica (Special issue on Robotics) November, 2000

Mechanics, planning, and control for tapping
Wesley Huang and Matthew T. Mason

International Journal of Robotics Research October, 2000

Geometric construction of time optimal trajectories for differential drive robots
Devin Balkcom and Matthew T. Mason

Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR '00) January, 2000

Extremal Trajectories for Bounded Velocity Differential Drive Robots
Devin Balkcom and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '00) April, 2000

Time Optimal Trajectories for Bounded Velocity Differential Drive Robots
Devin Balkcom and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '00) April, 2000

Progress in Nonprehensile Manipulation
Matthew T. Mason

International Journal of Robotics Research November, 1999

Experiments with Desktop Mobile Manipulators
Matthew T. Mason , Dinesh Pai, Daniela Rus, J. Howell, L. R. Taylor and Michael Erdmann

Internatiional Symposium on Experimental Robotics January, 1999

Dynamic manipulation with a one joint robot
Kevin Lynch and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '97) January, 1997

Using Partial Sensor Information to Orient Parts
Srinivas Akella and Matthew T. Mason

International Journal of Robotics Research October, 1999

Mechanics, Planning, and Control for Tapping
Wesley Huang and Matthew T. Mason

Workshop on the Algorithmic Foundations of Robotics January, 1998

Compliance and Force Control for Computer-Controlled Manipulators
Matthew T. Mason

IEEE Trans on Systems, Man, and Cybernetics January, 1981

Robot Motion: Planning and Control
M. Brady, J. M. Hollerbach, T. Johnson, T. Lozano-Perez and Matthew T. Mason

January, 1982

Manipulator Grasping and Pushing Operations
Matthew T. Mason

doctoral dissertation, Electrical Engineering and Computer Science, MIT January, 1982

Adaptable Manipulation without Sensors
Matthew T. Mason

Robotics Research and Advanced Applications January, 1982

Automatic Synthesis of Fine-Motion Strategies for Robots
Tomas Lozano-Perez, Matthew T. Mason and Russell H. Taylor

International Journal of Robotics Research January, 1984

Stable Pushing: Mechanics, Controllability, and Planning
Kevin Lynch and Matthew T. Mason

Algorithmic Foundations of Robotics January, 1995

A Mobile Manipulator
Matthew T. Mason , Dinesh Pai, Daniela Rus, L. R. Taylor and Michael Erdmann

IEEE International Conference on Robotics and Automation (ICRA '99) May, 1999

Dynamic Nonprehensile Manipulation: Controllability, Planning and Experiments
Kevin Lynch and Matthew T. Mason

International Journal of Robotics Research January, 1999

Parts Orienting with Partial Sensor Information
Srinivas Akella and Matthew T. Mason

1998 IEEE International Conference on Robotics and Automation May, 1998

Parts Orienting with Shape Uncertainty
Srinivas Akella and Matthew T. Mason

1998 IEEE International Conference on Robotics and Automation May, 1998

Experiments in Impulsive Manipulation
Wesley Huang and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '98) May, 1998

Posing polygonal objects in the plane by pushing
Srinivas Akella and Matthew T. Mason

International Journal of Robotics Research January, 1998

Mechanics for Vibratory Manipulation
Wesley Huang and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '97) April, 1997

Sensorless Parts Orienting with a One Joint Manipulator
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '97) April, 1997

Stable Pushing: Mechanics, Controllability, and Planning
Kevin Lynch and Matthew T. Mason

International Journal of Robotics Research December, 1996

Dynamic Underactuated Nonprehensile Manipulation
Kevin Lynch and Matthew T. Mason

IEEE/RSJ International Conference on Intelligent Robots and Systems November, 1996

Posing Polygonal Objects in the Plane by Pushing
Srinivas Akella and Matthew T. Mason

IEEE International Conference on Robotics and Automation May, 1992

Graphical analysis of planar rigid-body dynamics with multiple frictional contacts
Randy C. Brost and Matthew T. Mason

International Symposium on Robotics Research August, 1989

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

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